Slabs generally aren't designed to take load-bearing walls, posts etc (as confirmed by your engineer). If the slab hasn't been thickened locally to take the additional load then you usually have to either expose and use an existing footing or form a new one. I've never completed a domestic project (30 odd p/yr for the last 20 yrs) where the engineer or building control has allowed a load-bearing element to be constructed on a slab without some form of thickening/footing.